EP3714351A1 - Method and system for color grading a virtual reality video content - Google Patents
Method and system for color grading a virtual reality video contentInfo
- Publication number
- EP3714351A1 EP3714351A1 EP18804331.9A EP18804331A EP3714351A1 EP 3714351 A1 EP3714351 A1 EP 3714351A1 EP 18804331 A EP18804331 A EP 18804331A EP 3714351 A1 EP3714351 A1 EP 3714351A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- content
- colorist
- grading
- color grading
- station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
- G06T19/20—Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/012—Head tracking input arrangements
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
- G06F3/04815—Interaction with a metaphor-based environment or interaction object displayed as three-dimensional [3D], e.g. changing the user viewpoint with respect to the environment or object
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
- G06F3/04845—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
- G06T19/006—Mixed reality
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
-
- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B27/00—Editing; Indexing; Addressing; Timing or synchronising; Monitoring; Measuring tape travel
- G11B27/02—Editing, e.g. varying the order of information signals recorded on, or reproduced from, record carriers
- G11B27/031—Electronic editing of digitised analogue information signals, e.g. audio or video signals
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/24—Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/62—Semi-transparency
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2012—Colour editing, changing, or manipulating; Use of colour codes
Definitions
- the present disclosure relates generally to the field of the production of Virtual reality (VR) contents and more specifically to the color grading of VR contents.
- VR Virtual reality
- colorists may have to grade 360° VR contents.
- Colorists working on color grading for films usually use dedicated color grading stations, such as the“DaVinci Resolve” color grading station.
- Such stations offer them quick access to the parameters and controls of the color grading software so that they can modify the content without having to manipulate different buttons, sliders or menus or screen.
- colorists need to be able to access to the multiple controls available on the station to perform color editing, while at the same time visualizing the effect of modifications on the content on specialized monitors or projectors in front of them.
- the grading could mainly be performed using the same setup, working for instance on key frames issued from the 360° VR content.
- the conditions of visualization while color grading would be quite different from the final conditions where the content would be viewed, which would be through a VR head mounted display (HMD).
- HMD VR head mounted display
- Colorists should be able to validate the final rendering and to adjust the grading of VR contents with a HMD, in the real conditions of visualization.
- colorists cannot see the color grading station anymore and as such would not be able to access easily the controls for modifying the image.
- they are currently required to color grade on a traditional setup, verify on the HMD and iterate until the desired result is obtained, which is a tedious process.
- a purpose of the present disclosure is to propose a method and a system making easier the work of the colorist.
- the colorist can navigate in the 360° VR content to grade the content in visual conditions as close as possible as the final visualization conditions.
- This system could be an additional feature added to the current grading setups used for conventional film grading. As such, colorists would not have to use dedicated stations for VR grading, but could use the same tools as the tools used for legacy films.
- the disclosure relates to a method for providing assistance to (or assisting or aiding) a colorist in color grading of a virtual reality video content, called VR content, said method comprising the steps of:
- the visual control information are displayed next to the VR content being graded.
- the VR content is displayed in a first area of the HMD while the visual control information is displayed in a second area of the HMD, said second area being distinct from the first area.
- the field of view dedicated to the VR content in the HMD is reduced to display the visual control information.
- the VR content and the visual control information are displayed in a same area of the head mounted display, the visual control information being superimposed on the VR content.
- the VR content is displayed full screen, and the visual control information are displayed in semi-transparency mode overlaid onto the VR content.
- the position information is based on video images captured by a camera placed above the color grading station.
- the visual control information are virtual images of the hands of the colorist and the grading control elements of the color grading station.
- the position of the hands of the colorist versus the color grading station is estimated by detecting skin tones in video images captured by a camera placed above the color grading station.
- the position of the hands of the colorist versus a color grading station is estimated by dedicated markers placed on the hands of the colorist.
- the colorist wears for instance gloves with said dedicated markers.
- the method further comprises a step of estimating the position of the grading control elements of the color grading station, for example by use of dedicated markers placed on the grading control elements of the color grading station.
- the head mounted display being arranged to estimate the physical rotation of the colorist wearing said head mounted display
- the method further comprises a step for mapping to said physical rotation a rotation within the virtual reality video content, called content rotation, said content rotation being greater than said physical rotation, the virtual reality video content being displayed with said content rotation on said head mounted display.
- This feature allows improving the ability for the colorist to navigate within the 360° VR content.
- the 360° content can be typically explored by rotating the HMD either by moving the head of the user or the user moving totally.
- the user will normally hold a controller such as a game controller in their hands, which can be moved with them.
- the color grading station used by the colorist is fixed in place and may be too impractical or even impossible to move. As such, the colorist must be able to access his physical grading control elements in front of him, while being able to explore the full 360° of the VR content.
- mapping operation compresses the physical rotation into a smaller rotation, such that a smaller angle of rotation of the HMD corresponds to a larger angle of rotation of the VR content itself.
- the HMD does not need to be spun a full 180° to access the content behind the point of view of the user.
- the colorist could for instance rotate his head from 60° left to 60° right to access the whole 360° content.
- a ratio between the content rotation and the physical rotation is a constant value greater than 1.
- the ratio is for example substantially equal to 3 such that the colorist could rotate his head from 60° left to 60° right to access VR content from -180° to +180°.
- the disclosure also relates to a processing device for providing assistance to a colorist in color grading of a virtual reality video content, called VR content, said processing device being configured to
- All or parts of the processing device may be incorporated into the color grading station and/or the head mounted display or may be an external device.
- the disclosure also relates to a system for color grading a virtual reality video content comprising:
- color grading station for grading said virtual reality video content, said color grading station comprising control elements for controlling the grading of the virtual reality video content
- a camera for capturing video images of at least one hand of a colorist using said color grading station and generating position information representative of the position of at least one hand of the colorist versus a color grading station
- a head mounted display configured to display said visual control information together with said graded VR content in order to help the colorist manipulating said at least one grading control element.
- said camera is placed above control elements of the color grading station.
- the head mounted display displays the VR content and the visual control information are displayed in a same area, the visual control information being superimposed on the virtual reality video content.
- the visual control information is displayed next to the VR content to be graded.
- the VR content is displayed in a first area of the HMD while the visual control information is displayed in a second area of the display, said second area being distinct from the first area.
- the field of view dedicated to the VR content in the HMD is reduced to display hand position information and the control element information.
- Fig.1 is a flow chart of the successive steps implemented when performing a method for providing assistance to a colorist in color grading of a virtual reality video content according to one embodiment of the disclosure
- Fig.2 is a 360° VR content to be displayed by a head mounted display
- Fig.3 is the part of the 360° VR content of Fig.2 displayed by a head mounted display as proposed according to one embodiment of the disclosure;
- Fig.4 illustrates a mapping operation according to one embodiment of the disclosure
- Fig.5 is a schematic view of a processing device according to one embodiment of the disclosure.
- Fig.6 is a schematic view of a global system according to one embodiment of the disclosure.
- example embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations as sequential processes, many of the operations may be performed in parallel, concurrently or simultaneously. In addition, the order of operations may be re-arranged. The processes may be terminated when their operations are completed, but may also have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, subprograms, etc.
- Fig-1 shows a flow chart of steps of the method according to an embodiment of the disclosure.
- This method is defined for helping a colorist to grade a VR content by using a color grading station and a HMD for displaying the graded VR content.
- the color grading station may be a classical color grading station with its associated tools.
- the color grading station comprises at least one grading control element like a button, a slider, a knob or a joystick.
- the colorist controls the color grading by manipulating the grading control elements by at least one of his two hands.
- the colorist While visualizing the VR content to be graded in the HMD, the colorist loses the position of the grading control elements in front of him. The colorist needs to know the position of his hands versus the grading control elements of the color grading station in order to carry out the color grading operation of the VR content. To this end, visual information representative is displayed together with the VR content on the HMD to help the colorist manipulating the control elements of the color grading station.
- a processing device In a first step 100, the VR content being graded by the color grading station is received by a processing device.
- a second step 110 position information representative of the position of at least one hand of the colorist above the color grading station is received.
- the position information may be based on video images captured by a camera placed above the color grading station.
- the position information is generated by the camera generating the video images or by any other external device receiving the video images from the camera.
- the position of the colorist’s hands in the 3D space in front of him may be evaluated by known algorithms of pose estimation.
- this pose estimation may be performed by image processing based on skin tone and shape recognition.
- the colorist may for instance wear gloves equipped with dedicated markers.
- the position of the dedicated markers is then sensed by dedicated sensors and transmitted to the HMD.
- the position of the control elements of the color grading station may be also estimated from the video images from the camera above the color grading station.
- the position of the control elements of the color grading station may be estimated by dedicated markers placed on gloves worn by the colorist.
- the position of the color grading station being fixed, its position and the position of its control elements may be predetermined in a set-up phase.
- the position of the control elements is estimated based on the position of the hands at the beginning of the color grading operation. For example, at the beginning of the process, the colorist places its hands successively on the different control elements of the color grading station such that the sensed position of the hands at this stage of the process gives the position of the control elements of the color grading station. Knowing the position of the hands and the position of the grading control elements, it is possible to generate a representation of the hands and the grading control elements close to the hands. This representation could for instance be a compositing of the hand, segmented out of video captured by a camera placed above the color grading station and a known representation of the color grading station.
- the hands may also be virtual, animated like avatar hands, and driven by the colorist’s hands pose estimation.
- visual control information showing the position of the hands of the colorist versus the grading control elements of the color grading station is generated based on the position information.
- step 130 the visual control information together with the graded VR content are displayed on the HMD carried by the colorist in order to help him manipulating the grading control elements of the color grading station.
- the visual control information is displayed next to the VR content being graded.
- the VR content is displayed in a first area of the HMD while the visual control information is displayed in a second area of the HMD, said second area being distinct from the first area.
- the field of view dedicated to the VR content in the HMD is reduced to display the visual control information.
- the VR content and the visual control information are displayed in a same area of the head mounted display, the visual control information being superimposed on the VR content.
- the VR content is displayed full screen, and the visual control information is displayed in semi-transparency mode overlaid onto the VR content.
- Fig. 2 represents a 360° scene 22 to be displayed by a HMD.
- Fig.3 shows the part of the scene of Fig.2 displayed by the HMD for a given position of the colorist’s head.
- Virtual hands 20 and virtual grading control elements 21 are overlaid on this part of scene in order to help the colorist manipulating the control elements of the color grading station.
- four control buttons A, B, C and D are shown.
- the level of transparency could be adjusted for instance by a foot pedal.
- this foot pedal is released, only the VR content is displayed in the HMD while the visual control information is hidden. The more the foot pedal is pressed, the more the visual control information is visible in front of the VR content.
- the colorist can access the grading control elements when needed without removing his HMD, only by pressing the foot pedal.
- the present disclosure also addresses the issue of navigating within the VR content while being able to access the color grading station.
- the colorist should be able to validate his grading by navigating or rotating in the 360° VR content.
- he would need to physically rotate 180°, meaning that he would no longer be able to use the commands on the color grading station as they would no longer be in front of him.
- the physical rotation angle q r of the HMD is corrected by a coefficient mapping it to a larger angle of rotation within the VR content 6 C , and therefore speeding up the navigation in the VR content.
- a physical movement of the HMD by 60° from the initial position is mapped to a rotation of 180° in the VR content by a mapping coefficient or mapping ratio.
- This ratio may be a constant whose value is obtained by a trade- off between the amplitude of the physical movement required to visualize the 360°, and the speed of rotation in the VR content.
- This feature allows improving the ability for the colorist to navigate within the 360° VR content.
- the 360° content can be typically explored by rotating the HMD either by moving the head of the user or the user moving totally.
- the user will normally hold a controller such as a game controller in their hands, which can be moved with them.
- the color grading station used by the colorist is fixed in place and may be too impractical or even impossible to move. As such, the colorist must be able to access his physical grading control elements in front of him, while being able to explore the full 360° of the VR content.
- the mapping between the physical rotation angle q r and the VR content rotation angle 0 C is defined as a non-linear function, such that movements of the colorist closer to their initial position would lead to smaller rotations of the content, while larger movements would lead to progressively larger rotations of the content.
- This implementation would ensure that the colorist could use small movements to explore the viewpoint currently in front of them, while they would use larger movements to rotate to another part of the VR scene.
- the present disclosure also relates to a processing device for providing assistance to a colorist in color grading of a virtual reality video content, called VR content, said processing device being configured to
- the position information may be video images captured by a camera placed above the color grading station.
- This processing device is arranged to receive the graded VR content from the color grading station, receive the position information from the camera above the color grading station and to transmit the video stream to the head mounted display.
- Fig-5 is a schematic view of a head mounted display 500 cooperating with a processing device 510 according one embodiment of the disclosure.
- the head mounted display 500 comprises
- the processing device 510 comprises
- a frame selection module 511 receiving the VR content graded or to be graded by the color grading station, the mapping ratio for correcting the rotation of the HMD versus the rotation within the VR content, and the HMD position,
- a processing module 512 for compositing a graded VR content as defined above based on the graded frames from the frame selection module, the control information about the position of hands of the colorist and the position of the control elements of the color grading station and possibly a transparency coefficient.
- All or parts of the processing device 510 may be incorporated into the color grading station and/or the head mounted display. It may also be an external device.
- Fig-6 illustrates a system for color grading a VR content according to one embodiment of the disclosure. It comprises
- a storage module 610 for storing the VR content to be graded
- the color grading station comprising grading control elements for controlling the grading of the VR content
- a camera 630 above the color grading station for capturing video images of at least one hand of the colorist and generating position information representative of the position of hands of the colorist versus a color grading station
- a processing device 640 for generating, based on the position information from the camera 630, visual control information showing the position of the hands of the colorist versus at least one grading control element of the color grading station, and generating a video stream comprising the visual control information and the graded VR content, and - a HMD 650 for receiving the video stream generated by the processing device 640 and displaying the VR content graded by the color grading station together with visual control information helping the colorist to manipulate the control elements of the color grading station while visualizing the graded VR content.
- All or parts of the processing device 640 may be incorporated into the color grading station 620 and/or the head mounted display 650.
- a colorist can easily interact with the color grading station while visualizing the VR content in a HMD.
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Computer Graphics (AREA)
- Software Systems (AREA)
- Computer Hardware Design (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Architecture (AREA)
- Multimedia (AREA)
- Processing Or Creating Images (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP17306636.6A EP3489801A1 (en) | 2017-11-24 | 2017-11-24 | Method and system for color grading a virtual reality video content |
| PCT/EP2018/082225 WO2019101857A1 (en) | 2017-11-24 | 2018-11-22 | Method and system for color grading a virtual reality video content |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3714351A1 true EP3714351A1 (en) | 2020-09-30 |
| EP3714351B1 EP3714351B1 (en) | 2022-04-06 |
Family
ID=60673421
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP17306636.6A Withdrawn EP3489801A1 (en) | 2017-11-24 | 2017-11-24 | Method and system for color grading a virtual reality video content |
| EP18804331.9A Active EP3714351B1 (en) | 2017-11-24 | 2018-11-22 | Method and head-mounted device for assisting a colorist in color grading a virtual reality video content , and system for color grading a virtual reality video content |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP17306636.6A Withdrawn EP3489801A1 (en) | 2017-11-24 | 2017-11-24 | Method and system for color grading a virtual reality video content |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US11288881B2 (en) |
| EP (2) | EP3489801A1 (en) |
| CN (1) | CN111373350B (en) |
| WO (1) | WO2019101857A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10412438B2 (en) * | 2016-03-14 | 2019-09-10 | The Directv Group, Inc. | Method and system for viewing sports content within a virtual reality environment |
| US12192072B2 (en) * | 2020-02-10 | 2025-01-07 | Charter Communications Operating, Llc | Virtual reality content streaming based on quality of experience level |
| GB2600929B (en) * | 2020-11-10 | 2024-10-09 | Sony Interactive Entertainment Inc | Data processing |
| US20230341990A1 (en) * | 2022-04-20 | 2023-10-26 | Htc Corporation | Visual content generating method, host, and computer readable storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080030429A1 (en) * | 2006-08-07 | 2008-02-07 | International Business Machines Corporation | System and method of enhanced virtual reality |
| EP2502127A1 (en) * | 2009-11-18 | 2012-09-26 | Elmiro Business Development B.V. | Control system and method for controlling a plurality of computer devices |
| DE102012014910A1 (en) * | 2012-07-27 | 2014-01-30 | Volkswagen Aktiengesellschaft | User interface, method for displaying information and program facilitating operation of an operator interface |
| CN106796771B (en) * | 2014-10-15 | 2020-08-21 | 精工爱普生株式会社 | Head-mounted display device, method of controlling head-mounted display device, and computer program |
| US10568502B2 (en) * | 2016-03-23 | 2020-02-25 | The Chinese University Of Hong Kong | Visual disability detection system using virtual reality |
| EP3236306A1 (en) * | 2016-04-20 | 2017-10-25 | Hexkraft GmbH | A method for rendering a 3d virtual reality and a virtual reality equipment for implementing the method |
-
2017
- 2017-11-24 EP EP17306636.6A patent/EP3489801A1/en not_active Withdrawn
-
2018
- 2018-11-22 CN CN201880075774.7A patent/CN111373350B/en active Active
- 2018-11-22 WO PCT/EP2018/082225 patent/WO2019101857A1/en not_active Ceased
- 2018-11-22 EP EP18804331.9A patent/EP3714351B1/en active Active
- 2018-11-22 US US16/764,412 patent/US11288881B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111373350B (en) | 2023-07-04 |
| US11288881B2 (en) | 2022-03-29 |
| EP3714351B1 (en) | 2022-04-06 |
| CN111373350A (en) | 2020-07-03 |
| WO2019101857A1 (en) | 2019-05-31 |
| US20210366204A1 (en) | 2021-11-25 |
| EP3489801A1 (en) | 2019-05-29 |
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